Sensitivity of a vehicle lane change control system to disturbances and measurement signal errors - Modeling and numerical investigations

摘要

Automatic control of the lane change process forms a basis to automate more complex vehicle maneuvers. The lane change controller model presented in the paper has a mixed structure. In the open-loop structure, the controller works as a reference signals generator supplying a time course of the steering system angle (reference input signal), and two time courses of the lateral and angular shifts of the vehicle (reference output signals). In the closed-loop structure it works as a steering signal corrector (regulation based on the error signals between the reference and measured signals expressing vehicle trajectory). For the validation of the controller algorithm, extensive simulation investigations have been carried out. In these investigations, as a virtual control object, a very detailed and experimentally verified mathematical model of a medium-duty truck has been used. The control system model and its simulation investigations were already presented in several papers by the Authors. This paper presents the results of the research focused on the sensitivity of the control system to disturbances and measurement signal errors (noises, offsets, delays).